# You Only Pose Once: A Minimalist's Detection Transformer for Monocular RGB Category-level 9D Multi-Object Pose Estimation

arXiv: https://arxiv.org/abs/2508.14965 · HTML: https://mlsanity.com/paper/2508.14965/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 52 references that are in the map.
- First posted on arXiv 20 Aug 2025.

## Builds on (most cited first, 30 of 37)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation](https://mlsanity.com/paper/1901.02970/) (2019)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion](https://mlsanity.com/paper/1901.04780/) (2019)
- [Oriented R-CNN for Object Detection](https://mlsanity.com/paper/2108.05699/) (2021)
- [Disentangling Monocular 3D Object Detection](https://mlsanity.com/paper/1905.12365/) (2019)
- [Real-Time Seamless Single Shot 6D Object Pose Prediction](https://mlsanity.com/paper/1711.08848/) (2017)
- [PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1911.04231/) (2019)
- [FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanism](https://mlsanity.com/paper/2103.07054/) (2021)
- [Category Level Object Pose Estimation via Neural Analysis-by-Synthesis](https://mlsanity.com/paper/2008.08145/) (2020)
- [GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Voting](https://mlsanity.com/paper/2203.07918/) (2022)
- [ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization](https://mlsanity.com/paper/2207.13691/) (2022)
- [CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation](https://mlsanity.com/paper/2203.01929/) (2022)
- [Temporal-Channel Transformer for 3D Lidar-Based Video Object Detection in Autonomous Driving](https://mlsanity.com/paper/2011.13628/) (2020)
- [HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios](https://mlsanity.com/paper/2212.10428/) (2022)
- [Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimation](https://mlsanity.com/paper/2403.19527/) (2024)
- [Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image](https://mlsanity.com/paper/2109.06161/) (2021)
- [Category-Level Metric Scale Object Shape and Pose Estimation](https://mlsanity.com/paper/2109.00326/) (2021)
- [ARS-DETR: Aspect Ratio-Sensitive Detection Transformer for Aerial Oriented Object Detection](https://mlsanity.com/paper/2303.04989/) (2023)
- [Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Image](https://mlsanity.com/paper/2204.01586/) (2022)

## Built on by (most cited first, 3 of 3)

- [Mind the Shape Gap: A Benchmark and Baseline for Deformation-Aware 6D Pose Estimation of Agricultural Produce](https://mlsanity.com/paper/2603.27429/) (2026)
- [RYOPO: Bringing End-to-End Category-Level Object Pose Estimation into Real Time](https://mlsanity.com/paper/2610.03013/) (2026)
- [SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schema](https://mlsanity.com/paper/2610.18374/) (2026)

## Abstract (arXiv)

Accurately recovering the full 9-DoF pose of unseen instances within specific categories from a single RGB image remains a core challenge for robotics and automation. Most existing solutions still rely on pseudo-depth, CAD models, or multi-stage cascades that separate 2D detection from pose estimation. Motivated by the need for a simpler, RGB-only alternative that learns directly at the category level, we revisit a longstanding question: Can object detection and 9-DoF pose estimation be unified with high performance, without any additional data? We show that they can with our method, YOPO, a single-stage, query-based framework that treats category-level 9-DoF estimation as a natural extension of 2D detection. YOPO augments a transformer detector with a lightweight pose head, a bounding-box-conditioned translation module, and a 6D-aware Hungarian matching cost. The model is trained end-to-end only with RGB images and category-level pose labels. Despite its minimalist design, YOPO sets a new state of the art on three benchmarks. On the REAL275 dataset, it achieves 79.6% rmIoU50 and 54.1% under the 10^circ10rmcm metric, surpassing prior RGB-only methods and closing much of the gap to RGB-D systems. The code, models, and additional qualitative results can be found on https://mikigom.github.io/YOPO-project-page.